Abstract
Path planning is an interesting topic which is affected by lots of variables, as: time, energy, torque and stability. In this study, a new method based on Big Bang-Big Crunch algorithm is proposed to find optimum values of the parameters of a path and a cost function in order to minimize applied torque and tracking error. For this purpose the mathematical model of the manipulator is derived with mainly used methods, Denavit-Hartenberg, Jacobian and Euler-Lagrange methods. By using classical robot modeling methods, Big Bang-Big Crunch algorithm searched for the optimum trajectory and found the optimum value of the cost function.
Original language | English |
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Title of host publication | Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 |
Editors | Imed Kacem, Pierre Laroche, Zsuzsanna Roka |
Publisher | Institute of Electrical and Electronics Engineers Inc. |
Pages | 557-561 |
Number of pages | 5 |
ISBN (Electronic) | 9781479967735 |
DOIs | |
Publication status | Published - 23 Dec 2014 |
Event | 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 - Metz, France Duration: 3 Nov 2014 → 5 Nov 2014 |
Publication series
Name | Proceedings - 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 |
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Conference
Conference | 2014 International Conference on Control, Decision and Information Technologies, CoDIT 2014 |
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Country/Territory | France |
City | Metz |
Period | 3/11/14 → 5/11/14 |
Bibliographical note
Publisher Copyright:© 2014 IEEE.
Keywords
- Big Bang-Big Crunch optimization algorithm
- Path planning
- Robot dynamics
- Robot kinematics